CN205708804U - The mechanical hand of a kind of New Hydrogen fuel cell reaction heap captures transporting equipment automatically - Google Patents

Abstract

A new type of hydrogen fuel cell reactor manipulator automatic grasping transport equipment described in the utility model includes grasping equipment and transport equipment located below the grasping equipment, and the grasping equipment includes the overall support of the manipulator, the mobile support of the manipulator, Manipulator, moving guide rail and motor, the top of described manipulator overall support is provided with manipulator moving support, described manipulator moving support is provided with described moving guide rail and motor, described manipulator moves along described moving guide rail, and described transportation equipment comprises reactor The placing plate and the transport chain, the reactor placing plate is arranged above the transport chain. The utility model realizes the horizontal movement of the manipulator through the motor and the manipulator moving bracket. A transportation line is arranged under the manipulator. The transportation equipment can transport the high-temperature reactor to the cooling system, realize the mass production and transportation of the high-temperature reactor, and solve the problem of manual overweight and large workload. , The problem of high risk factor can improve production efficiency to a certain extent.

Description

A new type of automatic grabbing and transportation equipment for manipulators of hydrogen fuel cell reactors

technical field

The utility model relates to a manipulator transport device, in particular to a manipulator automatic grasping transport device for a novel hydrogen fuel cell reactor.

Background technique

The hydrogen fuel cell reactor is currently a massive object, and its main property is a cuboid, and its production process is mainly through high-temperature sintering in a high-temperature furnace.

With the large-scale production, due to its small size and high temperature, in the transportation link of the large-scale production process, manual grabbing and transportation not only has a large workload, but also has a high risk factor, and it is difficult to achieve a certain production efficiency. , After research and investigation, it is found that there is no relevant literature in this regard.

Utility model content

The utility model overcomes the shortcomings in the prior art, and provides a novel hydrogen fuel cell reactor manipulator automatic grasping and transporting equipment, which realizes mass production and transportation of high-temperature reactors, and solves the problem of manual overweight, heavy workload and high risk factor. Problems can improve production efficiency to a certain extent.

In order to solve the above technical problems, the utility model is achieved through the following technical solutions:

A novel hydrogen fuel cell reactor manipulator automatically grabs and transports equipment, including a grabbing device and a transporting device located below the grabbing device. Motor, above the overall support of the manipulator is provided with a manipulator moving support, the manipulator moving support is provided with the moving guide rail and the motor, the manipulator moves along the moving guide rail, the transport equipment includes a reactor placement plate, a transport chain and an adjustable tripod, the reactor placement plate is set above the transport chain, the adjustable tripod is provided with an upper chain support plate and a lower chain support plate, and the transport chain is installed on the upper chain support plate and the lower chain support plate Chain pallet.

Further, the moving bracket of the manipulator is provided with a guide rail installation groove for installing the moving guide rail.

Further, the manipulator includes a manipulator cylinder, a main shaft, a fixed arm, a first-stage movable arm, a second-stage linkage arm, a third-stage linkage arm, a clamping arm and a fixed sleeve at the end of the shaft head, and the manipulator is provided above the moving guide rail. Cylinder, the lower end of the manipulator cylinder is fixedly connected to the horizontal fixed arm, the two ends of the fixed arm are respectively hinged with the first-stage movable arm, the lower end of the first-stage movable arm is hinged with the gripping arm, and the middle part of the first-stage movable arm Both ends of the two-stage linkage arms are hinged, and the other ends of the two secondary linkage arms are respectively hinged to the two ends of the fixed sleeve at the end of the shaft head, and the two ends of the fixed sleeve at the end of the shaft head are also hinged to the three-stage linkage arm. The other end of the triple cascade boom is hinged to the gripper arm.

Further, the overall support of the manipulator is welded and assembled from square pipes, which are connected with the moving support of the manipulator by four connecting vertical plates.

Further, the guide rail installation groove is connected with the connecting vertical plate by screws, and two parallel guide rails are installed in the guide rail installation groove.

Further, the motors are two 0.55kW deceleration motors, which respectively realize the movement of the respective manipulators on the guide rails, and control the pneumatic, stop and brake through the PLC.

Further, the guide rail is provided with a limit device controlled by PLC, and the limit device mainly includes a travel photoelectric proximity switch, a brake photoelectric travel switch and an offside alarm travel switch to realize the movement, stop and braking of the manipulator.

Compared with the prior art, the beneficial effects of the utility model are:

The manipulator of the novel hydrogen fuel cell reactor described in the utility model automatically grasps and transports the equipment. The manipulator moves laterally through the motor and the manipulator moving bracket. There is a transport line under the manipulator, and the transport equipment can transport the high-temperature reactor to the cooling system. , realize the mass production and transportation of high-temperature reactors, solve the problems of heavy manual workload and high risk factor, and improve production efficiency to a certain extent.

Description of drawings

Accompanying drawing is used for providing further understanding to the utility model, is used for explaining the utility model together with the embodiment of the utility model, does not constitute the limitation of the utility model, in the accompanying drawing:

Fig. 1 is a schematic diagram of the overall structure when the manipulator of a new type of hydrogen fuel cell reactor automatically grasps the transport equipment described in the utility model when the manipulator is in two positions;

Fig. 2 is the front view of the integral support of manipulator;

Fig. 3 is a structural schematic diagram of the manipulator.

In the figure, 1—the overall support of the manipulator; 2—the moving support of the manipulator;

3 - manipulator; 4 - manipulator cylinder;

5——moving guide rail; 6——motor;

7——Guide rail installation groove; 8——Reactor placement plate;

9—conveyor chain; 10—upper chain pallet;

11——adjustable tripod; 12——lower chain support plate;

13——Cylinder mounting nut; 14——Spindle;

15——fixed arm; 16——first-level movable arm;

17——two-stage linkage arm; 18——three-stage linkage arm;

19——clamping arm; 20——rail mounting beam;

21——Guide rail mounting beam; 22——Connecting beam;

23—column; 24—reinforcing column;

25——The fixing sleeve at the end of the shaft head.

detailed description

The preferred embodiments of the present utility model are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present utility model, and are not intended to limit the present utility model.

As shown in Figures 1 to 3, a new type of hydrogen fuel cell reactor manipulator automatic grasping and transporting equipment described in the utility model includes a manipulator integral support 1, a manipulator moving support 2, a manipulator 3, a manipulator cylinder 4, a moving guide rail 5, Motor 6, guide rail mounting groove 7, reactor placement plate 8, transport chain 9, upper chain supporting plate 10, lower chain supporting plate 11, adjustable tripod 12, described manipulator includes cylinder mounting nut 13, main shaft 14, fixed arm 15 , a first-level movable arm 16, a second-level linkage arm 17, a third-level linkage arm 18, a clamping arm 19, a guide rail installation beam 20, a connecting beam 21, a column 22, and a reinforcement column 23.

The overall support 1 of the manipulator is welded and assembled from square tubes, and it is connected with the mobile support 1 of the manipulator by 4 connecting vertical plates. The connecting vertical plates are made of 10mm steel plates as shown in the figure, and corresponding threaded mounting holes are drilled on the surface. The guide rail installation groove 7 is connected by thread with the connecting vertical plate, and two parallel moving guide rails 5 are installed in the guide rail installation groove 7, and the moving guide rail 5 is used for the movement of the manipulator 3.

Referring to Fig. 3, the manipulator 3 is composed of a manipulator cylinder 4, a main shaft 14, a fixed arm 15, a first-stage movable arm 16, a second-stage linkage arm 17, a third-stage linkage arm 18, a gripping arm 19, and a fixed sleeve 25 at the end of the shaft head. The top of the moving guide rail 5 is provided with a manipulator cylinder 4, the lower end of the manipulator cylinder 4 is affixed to a horizontal fixed arm 15, and the two ends of the fixed arm 15 are respectively hinged with a primary movable arm 16, and the lower end of the primary movable arm 16 is hinged with a clamping arm 19. , the first level of activity, the middle part of 16 is all hinged secondary linkage arm 17, the other end of two secondary linkage arms 17 is respectively hinged the two ends of shaft end fixed sleeve 25, and the two ends of shaft end fixed sleeve 25 are also hinged three The other end of the cascaded boom 18 is hinged with the clamping arm 19 .

The motor 6 is two 0.55kW deceleration motors, which respectively realize the movement of the respective manipulator 3 on the moving guide rail 5, and control the pneumatic, stop and brake through the PLC.

Transport equipment is made up of reactor placement plate 8, transport chain 9, upper chain supporting plate 10, lower chain supporting plate 11, and adjustable foot stand 12. The transport chain 9 is a large chain with improved structure. It replaces the original shaft with the shaft that can connect the pallet by pulling out the chain, and drills pin holes at the end of the shaft. The chain supporting plate is divided into an upper chain supporting plate 10 and a lower chain supporting plate 11, which are respectively welded on the adjustable tripod 12 of the transport frame.

A pair of manipulators are installed on a manipulator frame to realize the two movements of manipulator 3 opening and closing, and the lateral movement is controlled by two motors 6. The work of manipulator grabbing and opening is mainly completed by the stroke movement of the cylinder, which is designed in the overall support 1 of the manipulator. There are moving guide rails 5 that move laterally, guide components, and the two moving guide rails 5 are symmetrical and have undergone surface polishing and heat treatment. The U-shaped groove placed above the overall position of the manipulator 3 is set on the moving guide rails 5 with a movement limit stroke function. Device, the limit device mainly includes, 2 travel photoelectric proximity switches, 2 brake photoelectric travel switches, 2 offside alarm travel switches have been equipped with corresponding brake motors and PLC control systems. In terms of opening and closing of the manipulator 3, the manipulator 3 is Every time during the process of clamping the high-temperature reactor, an opening and closing movement is realized. The opening and closing movement is realized by the opening and closing control cylinder of the pneumatic valve set by the PLC. Secondly, in terms of transportation, there are two transportation devices under the manipulator 3. The main purpose of a piece of equipment is to transport the reactor from the high-temperature furnace. A photoelectric switch is designed directly under the manipulator 3. When the reactor reaches the predetermined position, the PLC controls the manipulator 3 to grab it, and the manipulator 3 controls the transport to the right. On the equipment, the PLC controls the cylinder to realize the placement and transportation, and the transportation equipment on the right transports the high-temperature reactor to the cooling system. This equipment can realize mass production and transportation of high-temperature reactors, solve the problems of manual overweight, heavy workload and high risk factor, and improve production efficiency to a certain extent.

Finally, it should be noted that the above are only preferred embodiments of the utility model, and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the embodiments, for those skilled in the art, it is still It is possible to modify the technical solutions recorded in the foregoing embodiments, or to perform equivalent replacements on some of the technical features, but within the spirit and principles of the present utility model, any modifications, equivalent replacements, improvements, etc. Included within the protection scope of the present utility model.

Claims (7)

1. the mechanical hand of a New Hydrogen fuel cell reaction heap captures transporting equipment automatically, it is characterised in that: include that crawl sets Standby and be positioned at the transporting equipment below described capture apparatus, described capture apparatus includes that mechanical hand integral support, mechanical hand move Support, mechanical hand, moving guide rail and motor, described mechanical hand integral support be arranged over mechanical hand traversing carriage, described machine Tool hands traversing carriage is provided with described moving guide rail and motor, and described mechanical hand moves along described moving guide rail, described transporting equipment Placing plate, delivery chain and adjustable foot rest including reactor, described reactor is placed plate and is arranged at above described delivery chain, institute Stating adjustable foot erection and have cochain bar supporting plate and lower chain supporting plate, described delivery chain is installed on described cochain bar supporting plate and lower chain Supporting plate.

The mechanical hand of a kind of New Hydrogen fuel cell reaction heap captures transporting equipment automatically, and it is special Levy and be: described mechanical hand traversing carriage is provided with the guide rails assembling groove installing described moving guide rail.

The mechanical hand of a kind of New Hydrogen fuel cell reaction heap captures transporting equipment automatically, and it is special Levy and be: described mechanical hand include manipulator cylinder, main shaft, fixed arm, one-level lever arm, secondary linkage arm, three grades of transmission arms, Gripping arm and spindle nose end fixed cover, described moving guide rail be arranged over described manipulator cylinder, described manipulator cylinder The affixed horizontal fixed arm in lower end, the two ends of described fixed arm are respectively articulated with one-level lever arm, the lower end of described one-level lever arm Hinged gripping arm, the middle part the most hinged secondary linkage arm of described one-level lever arm, the other end of two described secondary linkage arms divides The two ends of the most hinged described spindle nose end fixed cover, the most hinged three grades of transmission arms in two ends of described spindle nose end fixed cover, described The hinged described gripping arm of the other end of three grades of transmission arms.

The mechanical hand of a kind of New Hydrogen fuel cell reaction heap captures transporting equipment automatically, and it is special Levying and be: described mechanical hand integral support is assembled by square tubes soldering, it is connected by four pieces with described mechanical hand traversing carriage Riser connects.

The mechanical hand of a kind of New Hydrogen fuel cell reaction heap captures transporting equipment automatically, and it is special Levy and be: described guide rails assembling groove is connected by screw with described connection board, be provided with two in described guide rails assembling groove and put down Row guide rail.

The mechanical hand of a kind of New Hydrogen fuel cell reaction heap captures transporting equipment automatically, and it is special Levy and be: described motor is two 0.55kW reducing motors, realize respective mechanical hand respectively and move on guide rail, and pass through PLC controls pneumatic and stops and brake.

The mechanical hand of a kind of New Hydrogen fuel cell reaction heap captures transporting equipment automatically, and it is special Levying and be: be provided with the stopping means controlled by PLC on described guide rail, described stopping means mainly includes that stroke photoelectricity is close to opening Close, brake photoelectric travel limit switch and offside warning travel switch, it is achieved the motion of mechanical hand, stop and braking.